from launch import LaunchDescription
from launch_ros.actions import Node
import os


def generate_launch_description():
    param = [{"output_topic": "pcl_merged",
              "output_frame_id": "pcl_link",
              "output_freq": 10,
              "input_topics": ["rslidar", "rslidar"]}]
    return LaunchDescription([Node(package="pcl_merge", executable="merge_node", parameters=param),
                              Node(package="tf2_ros", executable="static_transform_publisher",
                                   arguments=["--frame-id", "base_link", "--child-frame-id", "pcl_link"])])
